Supporting modules and motion assistance apparatuses including the same

ABSTRACT

A supporting module may include: a supporting frame configured to support an action part of an object; a pressure member connected to the supporting frame and configured to push the action part to rotate when the supporting frame rotates in a first direction; a supporting member configured to pull the action part to rotate when the supporting frame rotates in a second direction; and/or a dispersion member, between the pressure member and the supporting member, configured to disperse force transmitted from the pressure member in a direction perpendicular to a direction of the transmitted force and configured to transmit the dispersed force to the supporting member.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority from Korean Patent Application No.10-2014-0062278, filed on May 23, 2014, in the Korean IntellectualProperty Office (KIPO), the entire contents of which are incorporatedherein by reference.

BACKGROUND

1. Field

Some example embodiments may relate generally to supporting modules.Some example embodiments may relate generally to motion assistanceapparatuses including the same.

2. Description of Related Art

With the onset of rapidly aging societies, a number of people mayexperience inconvenience and/or agony from joint problems, and interestin motion assistance apparatuses that may enable the elderly or patientswith joint problems to walk with less effort is growing. In addition,motion assistance apparatuses that may increase muscular strength ofhuman bodies may be in development for military purposes.

In general, motion assistance apparatuses for assisting motion of lowerparts of bodies may include body frames disposed on trunks of users,pelvic frames coupled to lower sides of the body frames to coverpelvises of the users, femoral frames disposed on thighs of the users,sural frames disposed on calves of the users, and/or pedial framesdisposed on feet of the users. The pelvic frames and femoral frames maybe connected rotatably by hip joint portions, the femoral frames andsural frames may be connected rotatably by knee joint portions, and/orthe sural frames and pedial frames may be connected rotatably by anklejoint portions.

The motion assistance apparatuses may include active joint structuresincluding hydraulic systems and/or driving motors to drive each jointportion to improve muscular strength of legs of the users. For example,motors to transmit driving power may be attached to the hip jointportions and/or knee joint portions, respectively.

The users may wear the motion assistance apparatuses over the users'clothing.

In general, supporting modules and motion assistance apparatuses mayinclude lower extremity muscular strength assistance robots for behaviorof lower extremities. These supporting modules and motion assistanceapparatuses may serve to assist force of wearer's legs to assist walkingusing human-robot synchronization.

Such supporting modules and motion assistance apparatuses may be drivenso as to sense a wearer's intention to walk and to assist correspondingmuscular strength. Here, sensing of the wearer's intention to walk maymean sensing of a wearer's intention to start walk or to finish walk, ormean sensing of moving states of the left foot and the right foot.

Although some example embodiments will be described with relation tosupporting modules and motion assistance apparatuses for humans, thoseskilled in the art will appreciate that some example embodiments may beapplied to other types of modules, apparatuses, and systems, such assupporting modules and motion assistance apparatuses for animals, ormore general purpose systems.

SUMMARY

In some example embodiments, a supporting module may comprise: asupporting frame configured to support an action part of an object; apressure member connected to the supporting frame and configured to pushthe action part to rotate when the supporting frame rotates in a firstdirection; a supporting member configured to pull the action part torotate when the supporting frame rotates in a second direction; and/or adispersion member, between the pressure member and the supportingmember, configured to disperse force transmitted from the pressuremember in a direction perpendicular to a direction of the transmittedforce and configured to transmit the dispersed force to the supportingmember.

In some example embodiments, the dispersion member may comprise: a firstconnection portion connected to the supporting frame or the pressuremember; a first dispersion piece connected to the first connectionportion; and/or two second connection portions, each connected to sidesof the first dispersion piece to transmit the dispersed force todifferent points of the supporting member.

In some example embodiments, the dispersion member may further comprise:two second dispersion pieces, each connected to one of the two secondconnection portions; and/or four third connection portions, eachconnected to sides of one of the two second dispersion pieces totransmit the dispersed force to different points of the supportingmember.

In some example embodiments, the first dispersion piece may comprisematerial having a higher rigidity than the first connection portion.

In some example embodiments, the first dispersion piece may be freelyrotatable and movable, within a radius corresponding to a length of thefirst connection portion, with respect to the supporting frame or thepressure member.

In some example embodiments, the pressure member may be along aperimeter of the action part to cover at least a portion of a frontsurface of the action part.

In some example embodiments, the supporting member may be in a shape ofa plate comprising a flexible material.

In some example embodiments, the first dispersion piece may be betweenthe pressure member and the action part.

In some example embodiments, a supporting module may comprise: asupporting frame configured to support an action part of an object; apressure member connected to the supporting frame and configured to pushthe action part to rotate when the supporting frame rotates in onedirection; and/or a supporting member comprising a first connectionportion connected to the pressure member, a separation hole provided onone side of the first connection portion, and a first dispersion piecebetween the first connection portion and the separation hole.

In some example embodiments, the supporting member may further comprisea separation recess configured to be depressed from the separation holeto an opposite side of the first dispersion piece.

In some example embodiments, the supporting member may further comprisetwo second dispersion pieces above and below the separation recess,respectively.

In some example embodiments, the separation recess may comprise a firstseparation recess between the two second dispersion pieces and a secondseparation recess configured to be depressed further from the firstseparation recess.

In some example embodiments, the second separation recess may beconfigured to be depressed from the first separation recess to anopposite side of the separation hole.

In some example embodiments, the first dispersion piece and the seconddispersion piece may be parallel to each other.

In some example embodiments, the first dispersion piece may be in adirection parallel to a longitudinal direction of the separation hole.

In some example embodiments, the second dispersion piece may be in adirection perpendicular to a longitudinal direction of the separationrecess.

In some example embodiments, the supporting member may be configured tohave an upper edge and a lower edge differing in length.

In some example embodiments, the upper edge and the lower edge may becurved in identical directions.

In some example embodiments, a motion assistance apparatus may comprise:an actuator module configured to provide power; a driving moduleconfigured to receive the power from the actuator module; and/or asupporting module comprising a supporting frame configured to support anaction part of an object, a pressure member connected to the supportingframe and configured to press a first side of the action part, adispersion member connected to the supporting frame or the pressuremember, and a supporting member connected to the dispersion member topull a second side of the action part.

In some example embodiments, the dispersion member may be configured todisperse force transmitted from the supporting frame or the pressuremember in a longitudinal direction of the action part and is configuredto transmit the dispersed force to the supporting member.

In some example embodiments, the pressure member and the supportingmember may be perpendicular to a rotation direction of the action part.

In some example embodiments, the driving module may comprise a rotationmember on one side of a hip joint of the object.

In some example embodiments, the supporting frame may be connected tothe rotation member and bent from a side surface of a lower body of theobject toward a front surface of the object to cover at least a portionof the action part.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or other aspects and advantages will become more apparentand more readily appreciated from the following detailed description ofexample embodiments, taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 illustrates a motion assistance apparatus disposed on an objectaccording to some example embodiments;

FIG. 2 is a block diagram illustrating a motion assistance apparatusaccording to some example embodiments;

FIG. 3 illustrates a driving module and a connection module according tosome example embodiments;

FIG. 4 is a front view illustrating a driving module and a connectionmodule according to some example embodiments;

FIG. 5 illustrates a motion assistance apparatus including a caseaccording to some example embodiments;

FIG. 6 illustrates a motion assistance apparatus including a casedisposed on an object according to some example embodiments;

FIG. 7 illustrates a supporting module according to some exampleembodiments;

FIGS. 8A and 8B illustrate various operating states of a dispersionmember according to some example embodiments;

FIGS. 9A and 9B illustrate a distribution of a force applied to asupporting module according to some example embodiments;

FIG. 10 illustrates a supporting member according to some exampleembodiments; and

FIG. 11 illustrates a supporting member according to some exampleembodiments.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference tothe accompanying drawings. Embodiments, however, may be embodied in manydifferent forms and should not be construed as being limited to theembodiments set forth herein. Rather, these example embodiments areprovided so that this disclosure will be thorough and complete, and willfully convey the scope to those skilled in the art. In the drawings, thethicknesses of layers and regions may be exaggerated for clarity.

It will be understood that when an element is referred to as being “on,”“connected to,” “electrically connected to,” or “coupled to” to anothercomponent, it may be directly on, connected to, electrically connectedto, or coupled to the other component or intervening components may bepresent. In contrast, when a component is referred to as being “directlyon,” “directly connected to,” “directly electrically connected to,” or“directly coupled to” another component, there are no interveningcomponents present. As used herein, the term “and/or” includes any andall combinations of one or more of the associated listed items.

It will be understood that although the terms first, second, third,etc., may be used herein to describe various elements, components,regions, layers, and/or sections, these elements, components, regions,layers, and/or sections should not be limited by these terms. Theseterms are only used to distinguish one element, component, region,layer, and/or section from another element, component, region, layer,and/or section. For example, a first element, component, region, layer,and/or section could be termed a second element, component, region,layer, and/or section without departing from the teachings of exampleembodiments.

Spatially relative terms, such as “beneath,” “below,” “lower,” “above,”“upper,” and the like may be used herein for ease of description todescribe the relationship of one component and/or feature to anothercomponent and/or feature, or other component(s) and/or feature(s), asillustrated in the drawings. It will be understood that the spatiallyrelative terms are intended to encompass different orientations of thedevice in use or operation in addition to the orientation depicted inthe figures.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting of exampleembodiments. As used herein, the singular forms “a,” “an,” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the terms“comprises,” “comprising,” “includes,” and/or “including,” when used inthis specification, specify the presence of stated features, integers,steps, operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, integers, steps,operations, elements, components, and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which example embodiments belong. Itwill be further understood that terms, such as those defined in commonlyused dictionaries, should be interpreted as having a meaning that isconsistent with their meaning in the context of the relevant art andshould not be interpreted in an idealized or overly formal sense unlessexpressly so defined herein.

Reference will now be made to example embodiments, which are illustratedin the accompanying drawings, wherein like reference numerals may referto like components throughout.

FIG. 1 illustrates a motion assistance apparatus 10 disposed on anobject 1 according to some example embodiments.

Referring to FIG. 1, the motion assistance apparatus 10 may be worn onthe object 1 to assist a motion of the object 1. The object 1 mayinclude a first part 11 on which a power providing module is disposed, asecond part 12 on which a power applying module is disposed, and a thirdpart 13 to support the power providing module and the power applyingmodule. For example, the first part 11 may correspond to an upper body,the second part 12 may corresponds to a lower body, and the third part13 may correspond to a waist.

The power providing module refers to a module including a driving sourcethat generates a power. The power applying module refers to a moduleincluding a rotating member to supplement or be substituted for afunction of a portion of an object, for example, a joint part. The powerapplying module may be disposed on one side of the joint part.

By disposing the power providing module and the power applying module tobe spaced apart from each other, a volume of a product to be disposed onthe joint part may be reduced.

Although FIG. 1 illustrates a case in which the object 1 corresponds toa human, the object 1 may also correspond to an animal or a robot.However, the object 1 is not limited thereto. In addition, although FIG.1 illustrates a case in which the motion assistance apparatus 10 assistsa motion of a thigh of the object 1, the motion assistance apparatus 10may also assist a motion of another part of an upper body, for example,a hand, an upper arm, and a lower arm of the object 1, or a motion ofanother part of a lower body, for example, a foot, and a calf of theobject 1. The motion assistance apparatus 10 may assist a motion of apart of the object 1.

Hereinafter, a case in which the motion assistance apparatus 10 assistsa motion of a thigh of a human will be described.

The motion assistance apparatus 10 may include an actuator module 100, adriving module 200, a supporting module 300, and a connection module400.

The actuator module 100 may provide a power to drive the motionassistance apparatus 10. The actuator module 100 may be coupled to thedriving module 200 to transmit the power to the driving module 200.

The actuator module 100 may be provided to be detachable from thedriving module 200. FIG. 1 illustrates the actuator module 100 detachedfrom the driving module 200.

The actuator module 100 may include, for example, a motor to receive avoltage or a current and generate a power, or a hydraulic pump. However,a type of the actuator module 100 is not limited to the foregoingexample embodiments.

The actuator module 100 may include a motor, a gear connected to themotor to transmit a driving power to the driving module 200, and aposition sensor to sense an angle of rotation of the gear.

The driving module 200 may receive the power from the actuator module100 and transmit the power to the supporting module 300. The drivingmodule 200 will be described in detail later. The supporting module 300may support a portion of which a motion is to be assisted using themotion assistance apparatus 10. The supporting module 300 may transmit aforce to a portion of the object 1 using the power received from thedriving module 200.

The supporting module 300 may support a portion of the lower body of theobject 1. The supporting module 300 may support a thigh of the object 1.The supporting module 300 may transmit the power received from thedriving module 200 to the lower body of the object 1, thereby moving thelower body of the object 1.

The connection module 400 may be interposed between the driving module200 and the supporting module 300. The connection module 400 may connectthe driving module 200 to the supporting module 300. However, theconnection module 400 may not be necessarily provided, and the drivingmodule 200 may be connected directly to the supporting module 300. Insome example embodiments, descriptions on the connection module 400 maybe applicable to the supporting module 300.

FIG. 2 is a block diagram illustrating the motion assistance apparatus10.

Referring to FIG. 2, the motion assistance apparatus 10 may furtherinclude a controller 500 to control the actuator module 100, the drivingmodule 200, and the supporting module 300.

The controller 500 may be mechanically or electrically connected to theactuator module 100. The controller 500 may turn the actuator module 100on or off. The controller 500 may adjust an output of the actuatormodule 100. The controller may adjust a magnitude, a velocity, or adirection of the power provided by the actuator module 100.

When the actuator module 100 corresponds to a motor, the controller 500may control a torque, a velocity of rotation, a direction of rotation,or an angle of rotation of the motor.

When the actuator module 100 includes a position sensor, the controller500 may control the actuator module 100 based on a signal transferredfrom the position sensor.

The controller 500 may also control the actuator module 100 based on asignal transferred from a position sensor belonging to the drivingmodule 200 or a position sensor belonging to the supporting module 300.

Although FIG. 2 illustrates the controller 500 being connected directlyto the actuator module 100, the driving module 200, and the supportingmodule 300, example embodiments are not limited thereto.

FIG. 3 illustrates the driving module 200 and the connection module 400.

Referring to FIG. 3, the driving module 200 may include an object fixmember 210, a first sub-module 220, a power transmitting member 230, anda second sub-module 240.

The object fix member 210 may fix the driving module 200 to the object1. The object fix member 210 may be in contact with at least a portionof an outer surface of the object 1. The object fix member 210 may beprovided in a form of covering the outer surface of the object 1. Theobject fix member 210 may be formed to be curved in a form correspondingto a contact portion of the object 1. The object fix member 210 mayinclude a curved surface to be in contact with the object 1.

The object fix member 210 may be fixed on one side of the third part 13of the object 1. The object fix member 210 may be fixed to the firstpart 11 of the object 1. The object fix member 210 may be fixed on anopposite side of the second part 12 of the object 1 based on the thirdpart 13 of the object 1.

The first sub-module 220 may transmit the power received from theactuator module 100 to the second sub-module 240. The first sub-module220 may include a body portion 222, a pivot 224, a first rotating member226, and a fastening portion 228.

The body portion 222 may be connected to the object fix member 210. Thebody portion 222 may be connected movably to the object fix member 210.The body portion 222 may be provided on one side of the object fixmember 210.

For example, the body portion 222 may be provided on an upper side ofthe object fix member 210. The body portion 222 may be disposed to bebiased toward the first part 11 of the object 1.

The pivot 224 may be provided on one side of the body portion 222, andconnected to the object fix member 210. The pivot 224 may be providedbetween the body portion 222 and the object fix member 210. The pivot224 may be provided movably with respect to the object fix member 210.

In some example embodiments, the pivot 224 may include a hinge. Thepivot 224 may rotate in one direction with respect to the object fixmember 210. The pivot 224 may rotate in a direction intersecting alongitudinal direction of the object fix member 210. For example, thepivot 224 may rotate in a direction orthogonal to the longitudinaldirection of the object fix member 210.

In some example embodiments, the pivot 224 may include a flexiblematerial. The flexible material may be formed using an elastic material.In some example embodiments, the body portion 222 may move in freedirections on the pivot 224 with respect to the object fix member 210.In addition, when an external force is eliminated, the body portion 222may return to a standard position corresponding to an original position.

In some example embodiments, the pivot 224 may include a ball joint. Insome example embodiments, the body portion 222 may move in freedirections on the pivot 224 with respect to the object fix member 210.

The first rotating member 226 may be provided rotatably with respect tothe body portion 222. The first rotating member 226 may include a gearto be engaged with the gear of the actuator module 100. An axis ofrotation of the first rotating member 226 may be disposed to beorthogonal to a pivot axis of the pivot 224.

The fastening portion 228 may be fastened to the actuator module 100.The fastening portion 228 may be provided on one side of the bodyportion 222. For example, the fastening portion 228 and the actuatormodule 100 may be provided in a fastening structure of a protrusion anda hole, a structure of a hook and a recess, or a structure of beingcoupled by a separate fastening member. However, a fastening structureof the fastening portion 228 and the actuator module 100 is not limitedthereto.

The fastening portion 228 may be provided detachably from the actuatormodule 100. When the fastening portion 228 is fastened to the actuatormodule 100, the first rotating member 226 may be prepared to receive thepower transmitted from the actuator module 100. When the fasteningportion 228 is detached from the actuator module 100, the transmissionof the power from the actuator module 100 and the first rotating member226 may be blocked.

The power transmitting member 230 may transmit the power from the firstsub-module 220 to the second sub-module 240. One side of the powertransmitting member 230 may be connected to the first rotating member226, and another side of the power transmitting member 230 may beconnected to the second sub-module 220. The power transmitting member230 may transmit the power using a pushing or pulling force, a frictionforce, a tensile force, or an elastic force.

The power transmitting member 230 may extend to both sides based on theobject fix member 210. For example, the power transmitting member 230may extend in a direction intersecting the longitudinal direction of theobject fix member 210. The power transmitting member 230 may be disposedin a direction perpendicular to the longitudinal direction of the objectfix member 210. The power transmitting member 230 may be disposed in adirection perpendicular to the pivot axis of the pivot 224.

The power transmitting member 230 may include a longitudinal directionmember disposed in a longitudinal direction between the first rotatingmember 226 and the second sub-module 240. For example, the longitudinaldirection member may include a wire, a cable, a string, a link, a rubberband, a spring, a belt, and a chain. The spring may include a coilspring or a flat spring. The longitudinal direction member may includean elastic member having elasticity. The power transmitting member 230may be configured using a combination of at least two types oflongitudinal direction members.

The power transmitting member 230 may be connected rotatably to thefirst rotating member 226 and the second sub-module 240.

The power transmitting member 230 may include a first power transmittingmember to connect one side of the first rotating member 226 to one sideof the second sub-module 240, and a second power transmitting member toconnect another side of the first rotating member 226 to another side ofthe second sub-module 240. The first power transmitting member and thesecond power transmitting member may be disposed on opposite sides basedon the axis of rotation of the first rotating member 226. The firstpower transmitting member and the second power transmitting member maybe disposed to be parallel to each other.

Although FIG. 3 illustrates two power transmitting members 230, a singlepower transmitting member 230 or at least three power transmittingmembers 230 may be provided.

In some example embodiments, when a single power transmitting member 230is provided, the power transmitting member 230 may correspond to alongitudinal direction member provided in a form of a doughnut coveringboth the first rotating member 226 and a second rotating member 246. Thepower transmitting member 230 may correspond to, for example, a belt ora chain.

In some example embodiments, when a single power transmitting member 230is provided, the power transmitting member 230 may correspond to aflexible material or a rigid body formed in a longitudinal direction.The power transmitting member 230 may correspond to, for example, a flatspring.

The second sub-module 240 may receive the power transmitted from thefirst sub-module 220 through the power transmitting member 230, andtransmit the received power to the object 1. The second sub-module 240may drive the supporting module 300 of FIG. 1. The second sub-module 240may be connected to the supporting module 300 through the connectionmodule 400.

The second sub-module 240 may include an extension link 242, areinforcing rib 244, the second rotating member 246, and a connectionaxis 249.

The extension link 242 may be connected to the object fix member 210.The extension link 242 may be fixed to the object fix member 210. Theextension link 242 may be formed to be integrated with the object fixmember 210. The extension link 242 may be connected to another side ofthe object fix member 210. The extension link 242 may be disposed on anopposite side of the body portion 222. The extension link 242 may extendfrom the object fix member to the opposite side of the body portion 222.

For example, one side of the extension link 242 may be connected to theobject fix member 210, and another side of the extension link 242 mayextend to a joint part. The other side of the extension link 242 may bedisposed at a height at which the joint part of the object 1 ispositioned from a ground. The extension link 242 may have a curved innerside surface corresponding to a shape of a human pelvis.

The extension link 242 may be disposed in a direction parallel to thepower transmitting member 230. The extension link 242 may be disposed ina direction perpendicular to the pivot axis of the pivot 224.

The reinforcing rib 244 may reinforce a rigidity of the extension link242. The reinforcing rib 244 may be provided on one side of theextension link 242. The reinforcing rib 244 may be disposed in adirection in which the extension link 242 is disposed. The reinforcingrib 244 may be disposed in a direction parallel to the powertransmitting member 230. The extension link 242 may be disposed in adirection perpendicular to the pivot axis of the pivot 224.

The second rotating member 246 may be provided rotatably with respect tothe extension link 242. The second rotating member 246 may be connectedto the power transmitting member 230. One side of the second rotatingmember 246 may be connected to the first power transmitting member, andanother side of the second rotating member 246 may be connected to thesecond power transmitting member. The first power transmitting memberand the second power transmitting member may be connected in oppositedirections based on an axis of rotation of the second rotating member246.

The second rotating member 246 may rotate through interoperation with arotary motion of the first rotating member 226. The second rotatingmember 246 may supplement or substitute for a function of a join part ofthe object 1. For example, the second rotating member 246 may supplementor be substituted for a function of a hip joint of the object 1.

The second rotating member 246 may be disposed on one side of the jointpart of the object 1. In some example embodiments, the second rotatingmember 246 may transmit a driving power in a direction matching a motiondirection of the joint part.

An axis of rotation 248 of the second rotating member 246 may bedisposed in a direction identical to the axis of rotation of the firstrotating member 226. The axis of rotation 248 of the second rotatingmember 246 may be perpendicular to the pivot axis of the pivot 224.

The connection axis 249 may be interposed between the second rotatingmember 246 and the connection module 400. The connection axis 249 mayenable the connection module 400 to be movable with respect to thesecond rotating member 246.

The axis of rotation 248 and the connection axis 249 may be disposed indifferent directions. The connection module 400 may perform a two degreeof freedom motion by means of the axis of rotation 248 and theconnection axis 249.

The connection module 400 may be provided movably with respect to thesecond rotating member 246. For example, the connection module 400 mayrotate on the connection axis 249. The connection module 400 may performa two degree of freedom motion with respect to the object fix member 210by means of the axis of rotation 248 and the connection axis 249.

A separate axis may be added to the connection module 400 or the secondsub-module 240. In some example embodiments, the separate axis may havea direction differing from directions of the axis of rotation 248 andthe connection axis 249. In some example embodiments, the connectionmodule 400 may be provided to perform a three or more degree of freedommotion with respect to the object fix member 210.

FIG. 4 is a front view illustrating the driving module 200 and theconnection module 400. In FIG. 4, the power transmitting member 230 ofFIG. 3 is omitted.

Referring to FIG. 4, the body portion 222 of the driving module 200 mayrotate with respect to the object fix member 210. The body portion 222may rotate in response to a lateral movement of the first part 11 theobject 1, and may not restrain a lateral movement of the first part 11of the object 1.

The driving module 200 may further include a restoring spring 225.

The restoring spring 225 may apply a restoring force to return the bodyportion 222 to a standard position. The restoring spring 225 may beprovided on one side of the pivot 224. For example, the restoring spring225 may correspond to a torsion spring.

When the power transmitting member 230 of FIG. 3 corresponds to a flatspring, the body portion 222 may return to the standard position by anelastic force of the flat spring. When the body portion 222 rotates byan external force received in response to a movement of the object 1,the flat spring may transmit a power while being bent based on amagnitude of the external force. In some example embodiments, the powermay be transmitted while preventing excessive buckling.

A length of the connection module 400 may vary. The length of theconnection module 400 may be adjusted to be suitable for a condition ofthe object 1. The connection module 400 may include a first connectionlink 410 and a second connection link 420.

The first connection link 410 may be connected to the second rotatingmember 246.

The second connection link 420 may be connected movably to the firstconnection link 410. The overall length of the connection module 400 mayvary depending on relative motions of the second connection link 420 andthe first connection link 410. The supporting module 300 may perform athree degree of freedom motion by means of the connection module 400,the axis of rotation 248, and the connection axis 249.

For example, the second connection link 420 may be connected slidinglywith respect to the first connection link 410. However, a connectionscheme for the first connection link 410 and the second connection link420 is not limited to a sliding scheme. Any connection method that mayvary the overall length of the connection module 400 may be used.

FIG. 5 illustrates the motion assistance apparatus 10 including a case260. FIG. 6 illustrates the motion assistance apparatus 10 including thecase 260 disposed on the object 1.

Referring to FIGS. 5 and 6, the driving module 200 may further includethe case 260. The case 260 may be provided to cover at least a portionof the driving module 200. The case 260 may prevent direct contactbetween internal components of the motion assistance apparatus 10 andskin of a human, thereby increasing wearability.

The case 260 may prevent an external exposure of at least a portion ofthe power transmitting member 230. A user may hold a portion of clothes2 on an outer surface of the case 260. For example, a waistband of pantsmay be held. Thus, the power transmitting member 230 may prevent thepower transmitting member 230 from being restrained by the waistband ofthe clothes 2. Thus, the power transmitting member 230 may smoothlytransmit a power. The case 260 may enable the object 1 to wear theclothes 2 over the motion assistance apparatus 10.

The case 260 may include a first holding portion 262 to hold the clothes2. For example, the first holding portion 262 may be formed to bedepressed from the outer surface of the case 260. The first holdingportion 262 may prevent the clothes 2 from sliding down by stablyholding a portion of the clothes 2.

Similarly, when the object fix member 210 is fixed on a waist of ahuman, the object fix member 210 may include a second holding portion212 to hold the clothes 2. The second holding portion 212 may be formedto be depressed from an outer surface of the object fix member 210. Thesecond holding portion 212 may prevent the clothes 2 from sliding downby stably holding a portion of the clothes 2. The second holding portion212 may be formed in succession to the first holding portion 262.

The power providing module described above may include the actuatormodule 100 and the first sub-module 220.

The power applying module described above may include the secondrotating member 246, the axis of rotation 248, the connection axis 249,the supporting module 300, and the connection module 400.

FIG. 7 illustrates the supporting module 300.

Referring to FIG. 7, the supporting module 300 may support an actionpart of the object 1. The action part refers to a part in contact withthe supporting module 300 to receive a force directly from thesupporting module 300.

The supporting module 300 may move using a power received from theconnection module 400. When the supporting module 300 moves, the actionpart of the object 1 supported by the supporting module 300 may move.The supporting module 300 may move the action part of the object 1 bypushing or pulling the action part of the object 1.

When the first rotating member 226 of FIG. 3 rotates, the secondrotating member 246 may rotate in a direction corresponding to adirection of rotation of the first rotating member 226. Based on thedirection of rotation of the second rotating member 246, the supportingmodule 300 may push or pull the action part of the object 1.

For example, the supporting module 300 may move a thigh of a human.Referring to FIG. 3, when the first rotating member 226 rotates in aclockwise direction, the second rotating member 246 may rotate in theclockwise direction, and the supporting module 300 may rotate in aforward direction of the human. In some example embodiments, thesupporting module 300 may pull the thigh of the human to move forward.

Conversely, when the first rotating member 226 rotates in acounterclockwise direction, the second rotating member 246 may rotate inthe counterclockwise direction, and the supporting module 300 may rotatein a backward direction of the human. In some example embodiments, thesupporting module 300 may push the thigh of the human to move backward.

The direction of rotation and the direction of movement may be changedbased on a connection relationship among the first rotating member 226,the second rotating member 246, and the supporting module 300.

The supporting module 300 may include a supporting frame 310, a pressuremember 320, a supporting member 330, and a dispersion member 340.

The supporting frame 310 may extend from the connection module 400. Thesupporting frame 310 may push or pull the action part of the object 1.The supporting frame 310 may be provided to cover at least a portion ofthe action part of the object 1.

The supporting frame 310 may include a portion to be disposed on a frontsurface or a rear surface of the action part of the object 1. Thesupporting frame 310 may include a surface parallel to an axialdirection of the connection module 400. The supporting frame 310 mayinclude a surface perpendicular to a trajectory of rotation of theconnection module 400.

For example, referring to FIG. 7, the supporting frame 310 may extendforward from the connection module 400. The extending portion may bedisposed on a front surface of the thigh of the human.

The supporting frame 310 may include a curved surface corresponding to ashape of the action part of the object 1. The supporting frame 310 mayhave a curved cross-section.

The pressure member 320 may apply pressure to one side of the actionpart of the object 1. The pressure member 320 may apply pressure to theaction part when the supporting frame 310 moves toward the action part.The pressure member 320 may be connected to the supporting frame 310.The pressure member 320 may be fixed to the supporting frame 310. Thepressure member 320 may be provided to be integrated with the supportingframe 310.

The pressure member 320 may be pressurized by the supporting frame 310to apply pressure to the action part of the object 1. The pressuremember 320 may be disposed along a perimeter of the action part of theobject 1. The pressure member 320 may extend to both sides based on thesupporting frame 310. The pressure member 320 may include a curvedsurface corresponding to the action part of the object 1.

The supporting member 330 may support another side of the action part ofthe object 1. The supporting member 330 may pull the action part whenthe supporting frame 310 moves away from the action part. The supportingmember 330 may be disposed on an opposite side of the pressure member320 based on the action part of the object 1.

The supporting member 330 may be disposed along the perimeter of theaction part of the object 1. The supporting member 330 may be formedusing a flexible material. For example, the supporting member 330 mayinclude fabric, sponge, and sheet. The supporting member 330 may beprovided in a form of a thin plate having a desired width (that may ormay not be predetermined).

As described above, the pressure member 320 and the supporting member330 may be disposed on the front surface and the rear surface of theaction part of the object, respectively. However, the pressure member320 may be disposed on the rear surface of the action part of the object1, and the supporting member 330 may be disposed on the front surface ofthe action part of the object 1.

The dispersion member 340 may connect the pressure member 320 to thesupporting member 330. The dispersion member 340 may disperse a tensileforce by the pressure member 320 in a longitudinal direction of theaction part of the object 1.

The dispersion member 340 may include a first dispersion piece 341, asecond dispersion piece 342, a first connection portion 343, a secondconnection portion 344, and a third connection portion 346.

The first dispersion piece 341 and the second dispersion piece 342 maybe collectively referred to as a “dispersion piece”. The firstconnection portion 343, the second connection portion 344, and the thirdconnection portion 346 may be collectively referred to as a “connectionportion”.

The dispersion piece and the connection portion may have differentrigidities. For example, the dispersion piece may have a higher rigiditythan the connection portion. In detail, the dispersion piece may includea rigid material, for example, a metal, a plastic, and a ceramic. Theconnection portion may include a flexible material, for example, ametallic cable, a metallic wire, a spring, a fabric string, a fabricplate, a rubber band, and a rubber plate.

However, the material of the dispersion piece is not limited to a rigidsubstance. For example, the dispersion piece may include a flexiblematerial having a higher rigidity than the connection portion. Thedispersion piece and the connection portion may have identicalrigidities.

The first dispersion piece 341 may be connected to the pressure member320, and disposed in a direction intersecting a direction of theperimeter of the action part of the object 1. For example, the firstdispersion piece 341 may be disposed in a direction perpendicular to thedirection of the perimeter of the action part of the object 1.

The first dispersion piece 341 may be connected to the supporting frame310 by a single first connection portion 343, and connected to thesecond dispersion piece 342 by two second connection portions 344.

The first connection portion 343 may connect the first dispersion piece341 to the supporting frame 310 to be movable with respect to thesupporting frame 310. The first dispersion piece 341 may be connectedmovably and/or rotatably to the supporting frame 310. The firstconnection portion 343 may connect the first dispersion piece 341 to thesupporting frame 310 to be freely movable with respect to the supportingframe 310 within a desired radius (that may or may not bepredetermined). The first connection portion 343 may prevent the firstdispersion piece 341 from being spaced from the supporting frame 310outside the desired radius (that may or may not be predetermined).

A length of the first connection portion 343 may be shorter than alength of the first dispersion piece 341. For example, the length of thefirst connection portion 343 may be shorter than or equal to half of thelength of the first dispersion piece 341.

One side of the first connection portion 343 may be connected to amidpoint of the longitudinal direction of the first dispersion piece341.

The first dispersion piece 341 may also be connected movably to thepressure member 320, similar to the supporting frame 310. Detaileddescriptions thereon will be omitted herein.

The two second connection portions 344 may be connected to one end andanother end of the first dispersion piece 341, respectively. The twosecond connection portions 344 may also be connected to two seconddispersion pieces 342, respectively.

A single first connection portion 343 may be connected to one side ofthe first dispersion piece 341, and two second connection portions 344may be connected to another side of the first dispersion piece 341. Thefirst connection portion 343 and the second connection portions 344 maybe disposed in opposite directions.

In the foregoing example embodiments, a tensile force applied to thefirst connection portion 343 may be divided and applied to the twosecond connection portions 344. The tensile force applied to one pointof the first dispersion piece 341 may be dispersed to two points.

The first dispersion piece 341 may be disposed between the pressuremember 320 and the action part of the object 1. In some exampleembodiments, the first dispersion piece 341 may be pressurized by thepressure member 320 and consequently, may apply pressure to the actionpart of the object 1. The first dispersion piece 341 may increase apressurization area.

The second dispersion piece 342 may be connected to the first dispersionpiece 341 and the supporting member 330. The second dispersion piece 342may be disposed in a direction intersecting a perimeter direction of theaction part of the object 1. For example, the second dispersion piece342 may be disposed in a direction perpendicular to the perimeterdirection of the action part of the object 1.

The second dispersion piece 342 may be connected to the first dispersionpiece 341 by a single second connection portion 344, and connected tothe supporting member 330 by two third connection portions 346.

The second connection portion 344 may connect the second dispersionpiece 342 to the first dispersion piece 341 to be movable with respectto the first dispersion piece 341. The second dispersion piece 342 maybe connected movably and rotatably to the first dispersion piece 341.The second connection portion 344 may be connected freely movable withina desired radius (that may or may not be predetermined) with respect tothe first dispersion piece 341. The second connection portion 344 mayprevent the second dispersion piece 342 from being spaced apart from thefirst dispersion piece 341 outside the desired radius (that may or maynot be predetermined).

A length of the second connection portion 344 may be shorter than alength of the second dispersion piece 342. For example, the length ofthe second connection portion 344 may be shorter than or equal to halfof the length of the second dispersion piece 342.

One side of the second connection portion 344 may be connected to amidpoint of the longitudinal direction of the second dispersion piece342.

The two third connection portions 346 may be connected to one end andanother end of the second dispersion piece 342, respectively. The twothird connection portions 346 may also be connected to two points of thesupporting member 330, respectively.

A single second connection portion 344 may be connected to one side ofthe second dispersion piece 342, and two third connection portions 346may be connected to another end of the second dispersion piece 342. Thesecond connection portion 344 and the third connection portions 346 maybe disposed in opposite directions.

In the foregoing example embodiments, a tensile force applied to thesecond connection portion 344 may be divided and applied to the twothird connection portions 346. The tensile force concentrated on asingle point of the second dispersion piece 342 may be dispersed to twopoints.

Thus, the tensile force applied to the first connection portion 343 maybe divided and applied to four third connection portions 346. Thetensile force produced by the movement of the pressure member 320 may bedispersed in a direction perpendicular to the perimeter direction of theaction part of the object 1 through the first dispersion piece 341 andthe second dispersion piece 342.

Although FIG. 4 illustrates a case in which the dispersion member 340 isprovided in a double structure of the first dispersion piece 341 and thesecond dispersion piece 342, a triple or more structure may also beprovided by interposing an additional dispersion piece between thesecond dispersion piece 342 and the supporting member 330. In addition,a single structure may also be provided by omitting the seconddispersion piece 342. The two second connection portions 344 connectedto the first dispersion piece 341 may be connected to two differentpoints of the supporting member 330.

FIGS. 8A and 8B illustrate various operating states of the dispersionmember 340.

Referring to FIGS. 8A and 8B, the dispersion member 340 may be providedin various forms to disperse a force. Angles of the first dispersionpiece 341 and the second dispersion piece 342 may be adjusted based on amotion pattern or a shape of the action part of the object 1.

FIG. 8A illustrates a case in which an intermediate portion of theaction part of the object 1 covered by the supporting member 330 is moretransformed. In some example embodiments, the two second dispersionpieces 342 may be adjusted to tilt toward the intermediate portion ofthe supporting member 330 based on a magnitude of a load. In so doing,distance from the second dispersion pieces 342 to the supporting member330 may be equalized and thus, tensile forces applied to the four thirdconnection portions 346 may be equalized. Accordingly, based on FIG. 8A,a distribution of a force vertically applied to the supporting member330 may be equalized.

FIG. 8B illustrates a case in which an upper portion and a lower portionof the action part of the object 1 covered by the supporting member 330are transformed to a greater degree. In some example embodiments, thetwo second dispersion pieces 342 may be adjusted to tilt toward anopposite side of the intermediate portion of the supporting member 330based on a magnitude of a load. In so doing, distances from the seconddispersion pieces 342 to the supporting member 330 may be equalized andthus, tensile forces applied to the four third connection portions 346may be equalized. Accordingly, based on FIG. 8B, a distribution of aforce vertically applied to the supporting member 330 may be equalized.

As illustrated in FIGS. 8A and 8B, the first dispersion piece 341 andthe second dispersion piece 342 may be freely rotatable and/or movablewithin a desired radius (that may or may not be predetermined). Thus,although a desired portion (that may or may not be predetermined) of theaction part is more transformed, a load concentration on thecorresponding portion may be prevented and a force may be distributedevenly.

FIGS. 9A and 9B illustrate a distribution of a force applied to thesupporting member 330. In detail, FIG. 9A illustrates the supportingmember 330 viewed from above, and FIG. 9B illustrates the supportingmember 330 viewed from the side.

Hereinafter, descriptions will be provided with reference to FIG. 9A.

In FIG. 9A, arrows indicated with a solid line illustrate a distributionof a force applied to the action part of the object 1 when thesupporting member 330 pulls the action part of the object 1.

The pressure member 320 may be disposed broadly over a front surface ofthe action part of the object 1, and the supporting member 330 may beconnected to both sides of the pressure member 320. In some exampleembodiments, a force used for the pressure member 320 to pull thesupporting member 330 may be applied frontward. Thus, an efficiency offorce transmission may increase. In addition, a distance betweensupporting points of the supporting member 330 may be maximized andthus, a distance from the actin part of the object 1 may decrease.

In FIG. 9A, arrows indicated with a broken line illustrate adistribution of a force applied to the action part of the object 1 whenthe pressure member 320 pushes the action part of the object 1.

The pressure member 320 may be disposed in a direction perpendicular toa movement direction of the action part of the object 1. The pressuremember 320 may be disposed on the front surface of the action part ofthe object 1. The pressure member 320 may be formed using a rigidmaterial. In some example embodiments, a pressure applied by thepressure member 320 to the action part of the object 1 may be equalized.

Hereinafter, descriptions will be provided with reference to FIG. 9B.

FIG. 9B illustrates an example of equalizing a pressure applied from thesupporting member 330 to the action part of the object 1, when viewedfrom the side, using a double dispersion structure of the dispersionmember 340. In the double dispersion structure, tensile forces appliedto the supporting member 330 may be approximately parallel. Thus, thesupporting member 330 may stably pull the action part of the object 1using a relatively broad supporting surface, rather than being folded.

FIG. 10 illustrates a supporting member 330′ according to some exampleembodiments.

Hereinafter, the same name may be used to describe an element includedin some example embodiments described above and an element having acommon function. Unless otherwise mentioned, the descriptions on someexample embodiments may be applicable to the following exampleembodiments and thus, duplicated descriptions will be omitted forconciseness.

Referring to FIG. 10, the supporting member 330′ may include a firstconnection portion 343′, a separation hole 334′, and a separation recess336′.

The first connection portion 343′ may be connected to the pressuremember 320 of FIG. 7.

The separation hole 334′ may be provided on one side of the supportingmember 330′. A first dispersion piece 341′ may be disposed on one sideof the separation hole 334′. The first dispersion piece 341′ may bedisposed in a direction parallel to a longitudinal direction of theseparation hole 334′.

The first dispersion piece 341′ may be disposed on the one side of thesupporting member 330′. The first dispersion piece 341′ may be disposedbetween the first connection portion 343′ and the separation hole 334′.The first connection portion 343′ may be disposed at a midpoint of thefirst dispersion piece 341′.

In some example embodiments, the first dispersion piece 341′ may beinserted into an internal portion of the supporting member 330′. Thesupporting member 330′ may include two planes, and the first dispersionpiece 341′ may be interposed between the two planes. Between the twoplanes, at least a portion of one plane corresponding to a perimeter ofthe first dispersion piece 341′ may be bonded to prevent a separation ofthe first dispersion piece 341′. In some example embodiments, at least aportion of the supporting member 330′ may be stitched along theperimeter of the first dispersion piece 341′. In some exampleembodiments, the first dispersion piece 341′ may be fixed on an outersurface of the supporting member 330′.

In some example embodiments, the first dispersion piece 341′ may befixed on an outer surface of the supporting member 330′.

The separation recess 336′ may be formed to be depressed on another sideof the separation hole 334′. The separation recess 336′ may be disposedon an opposite side of the first dispersion piece 341′ based on theseparation hole 334′. Second dispersion pieces 342′ may be disposed onan upper side and a lower side of the separation hole 334′,respectively.

The second dispersion pieces 342′ may be disposed in a directionintersecting a longitudinal direction of the separation recess 336′. Thesecond dispersion pieces 342′ may be disposed in a direction orthogonalto the longitudinal direction of the separation recess 336′. The seconddispersion pieces 342′ may be disposed to be parallel to the firstdispersion piece 341′.

Perimeters of the second dispersion pieces 342′ may be fixed while thesecond dispersion pieces 342′ is inserted into the internal portion ofthe supporting member 330′. The second dispersion pieces 342′ may befixed on the outer surface of the supporting member 330′. The seconddispersion pieces 342′ may be disposed in a similar manner in which thefirst dispersion piece 341′ is disposed and thus, duplicateddescriptions will be omitted for conciseness.

A portion of the supporting member 330′ disposed between the firstdispersion piece 341′ and the second dispersion pieces 342′ may bereferred to as a second connection portion 344′. The second connectionportion 344′ may correspond to a portion corresponding to the upper sideand the lower side of the separation hole 334′.

A portion of the supporting member 330′ corresponding to an upper sideand a lower side of the separation recess 336′ may be referred to as athird connection portion 346′.

The separation recess 336′ may include a first separation recessdisposed between the two second dispersion pieces 342′, and a secondseparation recess to be depressed further from the first separationrecess. The second separation recess may be formed to be depressed to anopposite side of the separation hole 334′ based on the first separationrecess.

As described above, a supporting member and a dispersion member may beprovided to be integrated.

FIG. 11 illustrates a supporting member 330″ according to some exampleembodiments.

Referring to FIG. 11, the supporting member 330″ may include a firstconnection portion 343″, a separation hole 334″, and a separation recess336″.

A first dispersion piece 341″ may be disposed between the firstconnection portion 343″ and the separation hole 334″.

Second dispersion pieces 342″ may be disposed on an upper side and alower side of the separation recess 336″.

A portion connecting the first dispersion piece 341″ to the seconddispersion pieces 342″ may be referred to as a second connection portion344″.

A portion of the supporting member 330″ disposed on the upper side andthe lower side of the separation recess 336″ may be referred to as athird connection portion 346″.

The supporting member 330″ may be formed to have an upper edge and alower edge differing in length. The upper edge and the lower edge may beprovided in a form of being curved in identical directions. Thesupporting member 330″ may be provided in a form of an unfolded sidesurface of a truncated cone.

In the foregoing example embodiments, the supporting member 330″ may bein close contact with a portion having a thickness varying from one sideto another side in the action part of the object 1, whereby wearabilitymay increase and a space between the supporting member 330″ and theobject 1 may be minimized.

Although some example embodiments have been shown and described, itwould be appreciated by those skilled in the art that changes may bemade in these example embodiments without departing from the principlesand spirit of the example embodiments, the scope of which is defined inthe claims and their equivalents. For example, while certain operationshave been described as being performed by a given element, those skilledin the art will appreciate that the operations may be divided betweenelements in various manners.

Although some example embodiments are described above with relation tomuscular strength assisting apparatuses, those skilled in the art willappreciate that some example embodiments may be applied to other typesof systems, such as systems not used in the medical field (e.g.,aerospace teleoperation systems, apparatuses for handling hazardousmaterials, patrol apparatuses, military apparatuses), humanoidapparatuses, or more general purpose control systems. Those skilled inthe art will appreciate that the muscular strength assisting apparatusesdescribed in this application have a myriad of practical uses.

Some example embodiments have been described above. Nevertheless, itshould be understood that various modifications may be made. Forexample, suitable results may be achieved if the described techniquesare performed in a different order and/or if components in a describedsystem, architecture, device, or circuit are combined in a differentmanner and/or replaced or supplemented by other components or theirequivalents. Accordingly, other implementations are within the scope ofthe following claims.

It should be understood that the example embodiments described hereinshould be considered in a descriptive sense only and not for purposes oflimitation. Descriptions of features or aspects within each embodimentshould typically be considered as available for other similar featuresor aspects in other embodiments.

What is claimed is:
 1. A supporting module, comprising: a supportingframe configured to support an action part of an object; a pressuremember connected to the supporting frame and configured to push theaction part to rotate when the supporting frame rotates in a firstdirection; a supporting member configured to pull the action part torotate when the supporting frame rotates in a second direction; and adispersion member, between the pressure member and the supportingmember, configured to disperse force transmitted from the pressuremember in a direction perpendicular to a direction of the transmittedforce and configured to transmit the dispersed force to the supportingmember.
 2. The supporting module of claim 1, wherein the dispersionmember comprises: a first connection portion connected to the supportingframe or the pressure member; a first dispersion piece connected to thefirst connection portion; and two second connection portions, eachconnected to sides of the first dispersion piece to transmit thedispersed force to different points of the supporting member.
 3. Thesupporting module of claim 2, wherein the dispersion member furthercomprises: two second dispersion pieces, each connected to one of thetwo second connection portions; and four third connection portions, eachconnected to sides of one of the two second dispersion pieces totransmit the dispersed force to different points of the supportingmember.
 4. The supporting module of claim 2, wherein the firstdispersion piece comprises material having a higher rigidity than thefirst connection portion, and wherein the first dispersion piece isfreely rotatable and movable, within a radius corresponding to a lengthof the first connection portion, with respect to the supporting frame orthe pressure member.
 5. The supporting module of claim 1, wherein thepressure member is along a perimeter of the action part to cover atleast a portion of a front surface of the action part.
 6. The supportingmodule of claim 1, wherein the supporting member is in a shape of aplate comprising a flexible material.
 7. The supporting module of claim2, wherein the first dispersion piece is between the pressure member andthe action part.
 8. A supporting module, comprising: a supporting frameconfigured to support an action part of an object; a pressure memberconnected to the supporting frame and configured to push the action partto rotate when the supporting frame rotates in one direction; and asupporting member comprising a first connection portion connected to thepressure member, a separation hole provided on one side of the firstconnection portion, and a first dispersion piece between the firstconnection portion and the separation hole.
 9. The supporting module ofclaim 8, wherein the supporting member further comprises a separationrecess configured to be depressed from the separation hole to anopposite side of the first dispersion piece, and wherein the supportingmember further comprises two second dispersion pieces above and belowthe separation recess, respectively.
 10. The supporting module of claim9, wherein the separation recess comprises a first separation recessbetween the two second dispersion pieces and a second separation recessconfigured to be depressed further from the first separation recess, andwherein the second separation recess is configured to be depressed fromthe first separation recess to an opposite side of the separation hole.11. The supporting module of claim 9, wherein the first dispersion pieceand the second dispersion piece are parallel to each other.
 12. Thesupporting module of claim 9, wherein the first dispersion piece is in adirection parallel to a longitudinal direction of the separation hole,and wherein the second dispersion piece is in a direction perpendicularto a longitudinal direction of the separation recess.
 13. The supportingmodule of claim 8, wherein the supporting member is configured to havean upper edge and a lower edge differing in length, and wherein theupper edge and the lower edge are curved in identical directions.
 14. Amotion assistance apparatus, comprising: an actuator module configuredto provide power; a driving module configured to receive the power fromthe actuator module; and a supporting module comprising a supportingframe configured to support an action part of an object, a pressuremember connected to the supporting frame and configured to press a firstside of the action part, a dispersion member connected to the supportingframe or the pressure member, and a supporting member connected to thedispersion member to pull a second side of the action part; wherein thedispersion member is configured to disperse force transmitted from thesupporting frame or the pressure member in a longitudinal direction ofthe action part and is configured to transmit the dispersed force to thesupporting member.
 15. The motion assistance apparatus of claim 14,wherein the pressure member and the supporting member are perpendicularto a rotation direction of the action part.
 16. The motion assistanceapparatus of claim 14, wherein the driving module comprises a rotationmember on one side of a hip joint of the object, and wherein thesupporting frame is connected to the rotation member and bent from aside surface of a lower body of the object toward a front surface of theobject to cover at least a portion of the action part.